Recent Submissions

  • Searching force-closure optimal grasps of articulated 2D objects with n links 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (International Federation of Automatic Control (IFAC), 2014)
    Conference report
    Open Access
    This paper proposes a method that finds a locally optimal grasp of an articulated 2D object with n links considering frictionless contacts. The surface of each link of the object is represented by a finite set of points, ...
  • Integrated grasp and motion planning using independent contact regions 

    Fontanals, Joan; Dang-Vu, Bao-Anh; Roa, Máximo Alejandro; Rosell Gratacòs, Jan; Porges, Oliver (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    Traditionally, grasp and arm motion planning are considered as separate tasks. This paper presents an integrated approach that only requires the initial configuration of the robotic arm and the pose of the target object ...
  • Using hand synergies as an optimality criterion for planning human-like motions for mechanical hands 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    The use of anthropomorphic mechanical hands allows the execution of complex manipulation tasks and, therefore, its use is increasing, both in humanoid robots and mobile manipulators. The planning of the motions of these ...
  • Getting comfortable hand configurations while manipulating an object 

    Montaño, Andrés; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    The paper presents an approach to manipulate unknown objects based on tactile information and force feedback. The object manipulation is performed using two fingers of the Shunck Dexterous Hand, which is equipped with ...
  • Optimization of robot coordination using temporal synchronization 

    Rodriguez, Carlos; Montaño, Andrés; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Restricted access - publisher's policy
    This work presents an optimization method applied to robot coordination using temporal synchronization. The coordination process considers the possibility of using multi-robot systems in which each robot executes individually ...
  • The Kautham Project: A teaching and research tool for robot motion planning 

    Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, ...
  • cRRT*: Planning loosely-coupled motions for multiple mobile robots 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT planner has been proposed to cope ...
  • An open-source toolbox for motion analysis of closed-chain mechanisms 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Rosales Gallegos, Carlos; Jaillet, Leonard Georges (Springer, 2013)
    Conference report
    Open Access
    Many situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), ...
  • Grasping simulation with a new device for a hand 

    Peña Pitarch, Esteve; Ticó Falguera, Neus; Abenoza Guardiola, Montserrat; Romero Cullerés, Georgia (2014)
    Conference lecture / Conference report
    Restricted access - publisher's policy
    People with disabilities have limitations in activities of daily life such as grasping a glass of water or moving an object. Orthotic products that improve or restore the functionality of the musculoskeletal system of a ...
  • Leader-follower and leaderless consensus in networks of flexible-joint manipulators 

    Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
    Conference report
    Restricted access - publisher's policy

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